Advertisement
Guest User

Untitled

a guest
Jul 3rd, 2019
85
0
Never
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 3.74 KB | None | 0 0
  1. # Generated by stepconf 1.1 at Mon Jul 1 10:46:49 2019
  2. # If you make changes to this file, they will be
  3. # overwritten when you run stepconf again
  4. loadrt [KINS]KINEMATICS
  5. loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
  6. loadrt hal_parport cfg="0x0378 out"
  7. setp parport.0.reset-time 5000
  8. loadrt stepgen step_type=0,0,0
  9. loadrt pwmgen output_type=1
  10.  
  11. addf parport.0.read base-thread
  12. addf stepgen.make-pulses base-thread
  13. addf pwmgen.make-pulses base-thread
  14. addf parport.0.write base-thread
  15. addf parport.0.reset base-thread
  16.  
  17. addf stepgen.capture-position servo-thread
  18. addf motion-command-handler servo-thread
  19. addf motion-controller servo-thread
  20. addf stepgen.update-freq servo-thread
  21. addf pwmgen.update servo-thread
  22.  
  23. net spindle-cmd-rpm => pwmgen.0.value
  24. net spindle-on <= spindle.0.on => pwmgen.0.enable
  25. net spindle-pwm <= pwmgen.0.pwm
  26. setp pwmgen.0.pwm-freq 50.0
  27. setp pwmgen.0.scale 16800.0
  28. setp pwmgen.0.offset -0.428571428571
  29. setp pwmgen.0.dither-pwm true
  30. net spindle-cmd-rpm <= spindle.0.speed-out
  31. net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs
  32. net spindle-cmd-rps <= spindle.0.speed-out-rps
  33. net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs
  34. net spindle-at-speed => spindle.0.at-speed
  35.  
  36. setp parport.0.pin-01-out-invert 1
  37. net spindle-pwm => parport.0.pin-01-out
  38. net xstep => parport.0.pin-02-out
  39. setp parport.0.pin-02-out-reset 1
  40. net xdir => parport.0.pin-03-out
  41. net ystep => parport.0.pin-04-out
  42. setp parport.0.pin-04-out-reset 1
  43. net ydir => parport.0.pin-05-out
  44. net zstep => parport.0.pin-06-out
  45. setp parport.0.pin-06-out-reset 1
  46. net zdir => parport.0.pin-07-out
  47. net spindle-on => parport.0.pin-17-out
  48. net home-x <= parport.0.pin-12-in-not
  49. net home-y <= parport.0.pin-13-in-not
  50. net home-z <= parport.0.pin-15-in-not
  51.  
  52. setp stepgen.0.position-scale [JOINT_0]SCALE
  53. setp stepgen.0.steplen 1
  54. setp stepgen.0.stepspace 0
  55. setp stepgen.0.dirhold 60000
  56. setp stepgen.0.dirsetup 60000
  57. setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
  58. net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
  59. net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
  60. net xstep <= stepgen.0.step
  61. net xdir <= stepgen.0.dir
  62. net xenable joint.0.amp-enable-out => stepgen.0.enable
  63. net home-x => joint.0.home-sw-in
  64.  
  65. setp stepgen.1.position-scale [JOINT_1]SCALE
  66. setp stepgen.1.steplen 1
  67. setp stepgen.1.stepspace 0
  68. setp stepgen.1.dirhold 60000
  69. setp stepgen.1.dirsetup 60000
  70. setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
  71. net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
  72. net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
  73. net ystep <= stepgen.1.step
  74. net ydir <= stepgen.1.dir
  75. net yenable joint.1.amp-enable-out => stepgen.1.enable
  76. net home-y => joint.1.home-sw-in
  77.  
  78. setp stepgen.2.position-scale [JOINT_2]SCALE
  79. setp stepgen.2.steplen 1
  80. setp stepgen.2.stepspace 0
  81. setp stepgen.2.dirhold 60000
  82. setp stepgen.2.dirsetup 60000
  83. setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
  84. net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
  85. net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
  86. net zstep <= stepgen.2.step
  87. net zdir <= stepgen.2.dir
  88. net zenable joint.2.amp-enable-out => stepgen.2.enable
  89. net home-z => joint.2.home-sw-in
  90.  
  91. net estop-out <= iocontrol.0.user-enable-out
  92. net estop-out => iocontrol.0.emc-enable-in
  93.  
  94. loadusr -W hal_manualtoolchange
  95. net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
  96. net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  97. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  98. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement